/*
 *  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  costmap_recovery_execution.h
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_
#define MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_

#include <mbf_abstract_nav/abstract_recovery_execution.h>
#include <mbf_costmap_core/costmap_recovery.h>
#include "mbf_costmap_nav/MoveBaseFlexConfig.h"
#include "mbf_costmap_nav/costmap_wrapper.h"
#include <nav_core/recovery_behavior.h>
#include "nav_core_wrapper/wrapper_recovery_behavior.h"

namespace mbf_costmap_nav
{
/**
* @brief The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the
*        nav_core/CostmapRecovery class as base plugin interface.
* This class makes move_base_flex compatible to the old move_base.
*
* @ingroup recovery_execution move_base_server
*/
class CostmapRecoveryExecution : public mbf_abstract_nav::AbstractRecoveryExecution
{

public:
    typedef boost::shared_ptr<CostmapRecoveryExecution> Ptr;

    /**
     * @brief Constructor.
     * @param recovery_name Name of the recovery behavior to run.
     * @param recovery_ptr Shared pointer to the plugin to use.
     * @param tf_listener_ptr Shared pointer to a common tf listener
     * @param global_costmap Shared pointer to the global costmap.
     * @param local_costmap Shared pointer to the local costmap.
     * @param config Current server configuration (dynamic).
     */
    CostmapRecoveryExecution(
            const std::string &recovery_name,
            const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr,
            const TFPtr &tf_listener_ptr,
            const CostmapWrapper::Ptr &global_costmap,
            const CostmapWrapper::Ptr &local_costmap,
            const MoveBaseFlexConfig &config)
            : AbstractRecoveryExecution(recovery_name, recovery_ptr, tf_listener_ptr, toAbstract(config)),
              global_costmap_(global_costmap), local_costmap_(local_costmap) {}

    /**
     * Destructor
     */
    virtual ~CostmapRecoveryExecution() {}

private:
    /**
     * @brief Implementation-specific setup function, called right before execution.
     * This method overrides abstract execution empty implementation with underlying map-specific setup code.
     */
    void preRun()
    {
        local_costmap_->checkActivate();
        global_costmap_->checkActivate();
    };

    /**
     * @brief Implementation-specific cleanup function, called right after execution.
     * This method overrides abstract execution empty implementation with underlying map-specific cleanup code.
     */
    void postRun()
    {
        local_costmap_->checkDeactivate();
        global_costmap_->checkDeactivate();
    };

    mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config)
    {
        // copy the recovery-related abstract configuration common to all MBF-based navigation
        mbf_abstract_nav::MoveBaseFlexConfig abstract_config;
        abstract_config.recovery_enabled = config.recovery_enabled;
        abstract_config.recovery_patience = config.recovery_patience;
        return abstract_config;
    }

    //! Shared pointer to the global costmap
    const CostmapWrapper::Ptr &global_costmap_;
    //! Shared pointer to thr local costmap
    const CostmapWrapper::Ptr &local_costmap_;
};

} /* namespace mbf_costmap_nav */

#endif /* MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_ */
